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<h1>Regular API function</h1>
<h3 class=subsectionBar><a name="simCheckVisionSensorEx" id="simCheckVisionSensorEx"></a>simCheckVisionSensorEx / sim.checkVisionSensorEx </h3>
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Description 
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<td class=apiTableRightDescr>Checks whether the vision sensor detects the indicated entity. This is the extended functionality version of <a href="simCheckVisionSensor.htm">sim.checkVisionSensor</a>. Detection is silent (no visual feedback) compared to <a href="simHandleVisionSensor.htm">sim.handleVisionSensor</a>. The <a href="../visionCallbackFunctions.htm">vision callback functions</a> will be called on the acquired image. Also, the visibility state of the entity is overridden if the entity is an object. See also <a href="simReadVisionSensor.htm">sim.readVisionSensor</a>. <br></td>
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C synopsis
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<td class=apiTableRightCSyn>simFloat* simCheckVisionSensorEx(simInt sensorHandle,simInt entityHandle,simBool returnImage)<br></td> 
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<td class=apiTableLeftCParam>C parameters</td> 
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<div><strong>sensorHandle</strong>: handle of the vision sensor object</div>
<div><strong>entityHandle</strong>: handle of entity to detect (object or collection), or sim_handle_all to detect all detectable objects</div>
<div><strong>returnImage</strong>: specifies what should be returned. If true, the sensor's image buffer is returned, otherwise its depth buffer is returned</div>
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C return value
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<div>image or depth buffer (use <a href="simGetVisionSensorResolution.htm">simGetVisionSensorResolution</a> for correct size), or nullptr in case of an error. The user is in charge of releasing the returned buffer with <a href="simReleaseBuffer.htm">simReleaseBuffer</a><br>
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Lua synopsis
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<div>table[] buffer=sim.checkVisionSensorEx(int sensorHandle,int entityHandle,boolean returnImage)</div>
<div>string buffer=sim.checkVisionSensorEx(int sensorHandle,int entityHandle,boolean returnImage)</div>
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<td class=apiTableLeftLParam>Lua parameters</td> 
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<div><strong>sensorHandle</strong>: handle of the vision sensor object. Can be combined with <a href="../apiConstants.htm#specialHandleFlags">sim.handleflag_codedstring</a> if you wish to retrieve the image or depth map coded in a string (much faster).</div>
<div><strong>entityHandle</strong>: Similar to the C-function counterpart</div>
<div><strong>returnImage</strong>: Similar to the C-function counterpart</div>
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Lua return values
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<div>Similar to the C-function counterpart: a table containing the image or depth buffer is returned</div>
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